Part1 - launch gazebo
launch gazebo simple example
Table of Content
gazebo_ros#
Provides ROS plugins that offer message and service publishers for interfacing with Gazebo through ROS.
sudo apt install ros-foxy-gazebo-ros
#
sudo apt install ros-foxy-gazebo-ros
project#
├── CMakeLists.txt
├── launch
│ └── basic_gazebo.launch.py
├── package.xml
└── worlds
└── empty.world
world#
empty.world
<?xml version='1.0'?>
<sdf version="1.6">
<world name="room">
<include>
<uri>model://sun</uri>
</include>
<include>
<uri>model://ground_plane</uri>
</include>
</world>
</sdf>
launch#
basic_gazebo.launch.py
cmake#
- Copy launch and world folders
CMakeLists.txt
# Add this line to CMakeLists.txt
install(DIRECTORY
launch
worlds
DESTINATION share/${PROJECT_NAME}/
)